How to place automatically a bone/vertex/object or a group of them in the center of the screen and zoom in them
In the User Preferences under the tab Input there are all the categories for the key bindings.  

If you expand the 3DView category and then the 3DView(Global) category by clicking on the little arrows/triangles you can scroll down to the end of 3DView(Global)'s entries until you see the button Add New.  

If you click on this button a new entry "none" is added. If you expand it, again by clicking on its arrow, there will be a field that also says "none". 
In this field you can put the following: 

view3d.view_selected  

Press return to accept it. On the right the current shortcut is displayed with its default value "A". LeftClick on that so that it says "Press a key" and click the right mouse button. Now you have assigned RightClick to the operator. You can also chose one or several modifier keys with the checkboxes below.  

Now if you select something by right clicking on it it should be put in the center of the screen and zoomed in on.
If you like how it works you can go back to your User Preferences and click Save User Settings.